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[Krobot-commits] [SCM] krobot branch, master, updated. 39d27a4038f8f91b6469513e63ba3ccb4da8d3e8
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From: Pierre C. <Ba...@us...> - 2012-05-15 23:13:18
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- Log -----------------------------------------------------------------
commit 39d27a4038f8f91b6469513e63ba3ccb4da8d3e8
Author: chicco <cha...@cr...>
Date: Wed May 16 01:12:29 2012 +0200
[control] ready for homologation
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/controller_motor_stm32.mk b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/controller_motor_stm32.mk
index cbfc980..ac9aa9a 100644
--- a/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/controller_motor_stm32.mk
+++ b/elec/boards/Controller_Motor_STM32/Firmwares/Propulsion_Drive/controller_motor_stm32/controller_motor_stm32.mk
@@ -9,7 +9,7 @@ Firmware_DEBUG = 1
# Our target application
TRG += controller_motor_stm32
-controller_motor_stm32_PREFIX = "/home/lxir/opt/arm/bin/arm-none-eabi-"
+controller_motor_stm32_PREFIX = "/media/data/krobot/arm-i386/bin/arm-none-eabi-"
controller_motor_stm32_SUFFIX = ""
diff --git a/info/control2011/_tags b/info/control2011/_tags
index c2c77dd..1deda0d 100644
--- a/info/control2011/_tags
+++ b/info/control2011/_tags
@@ -2,7 +2,7 @@
<src/interfaces/*.ml>: -syntax_camlp4o
# OASIS_START
-# DO NOT EDIT (digest: 8b68a015ff8be0607836f173f33170fd)
+# DO NOT EDIT (digest: 791dda707015630876eec58d1f5251cd)
# Ignore VCS directories, you can use the same kind of rule outside
# OASIS_START/STOP if you want to exclude directories that contains
# useless stuff for the build process
@@ -77,6 +77,11 @@
<src/tools/krobot_record.{native,byte}>: pkg_lwt.unix
<src/tools/krobot_record.{native,byte}>: pkg_lwt.syntax
<src/tools/krobot_record.{native,byte}>: pkg_lwt.react
+# Executable krobot-homologation
+<src/tools/krobot_homologation.{native,byte}>: use_krobot
+<src/tools/krobot_homologation.{native,byte}>: pkg_lwt.unix
+<src/tools/krobot_homologation.{native,byte}>: pkg_lwt.syntax
+<src/tools/krobot_homologation.{native,byte}>: pkg_lwt.react
# Executable krobot-simulator
<src/tools/krobot_simulator.{native,byte}>: use_krobot
<src/tools/krobot_simulator.{native,byte}>: pkg_lwt.unix
diff --git a/info/control2011/setup.ml b/info/control2011/setup.ml
index e0ea140..ac9febe 100644
--- a/info/control2011/setup.ml
+++ b/info/control2011/setup.ml
@@ -1,7 +1,7 @@
(* setup.ml generated for the first time by OASIS v0.2.0~alpha1 *)
(* OASIS_START *)
-(* DO NOT EDIT (digest: 6276a9db280e9f6fd9a16f0e5e4359c8) *)
+(* DO NOT EDIT (digest: b99935b89748cc3e2881684ab7d70ce0) *)
(*
Regenerated by OASIS v0.3.0~rc3
Visit http://oasis.forge.ocamlcore.org for more information and
@@ -5540,6 +5540,36 @@ let setup_t =
{exec_custom = false; exec_main_is = "krobot_record.ml"; });
Executable
({
+ cs_name = "krobot-homologation";
+ cs_data = PropList.Data.create ();
+ cs_plugin_data = [];
+ },
+ {
+ bs_build = [(OASISExpr.EBool true, true)];
+ bs_install = [(OASISExpr.EBool true, true)];
+ bs_path = "src/tools";
+ bs_compiled_object = Best;
+ bs_build_depends =
+ [
+ InternalLibrary "krobot";
+ FindlibPackage ("lwt.syntax", None)
+ ];
+ bs_build_tools = [ExternalTool "ocamlbuild"];
+ bs_c_sources = [];
+ bs_data_files = [];
+ bs_ccopt = [(OASISExpr.EBool true, [])];
+ bs_cclib = [(OASISExpr.EBool true, [])];
+ bs_dlllib = [(OASISExpr.EBool true, [])];
+ bs_dllpath = [(OASISExpr.EBool true, [])];
+ bs_byteopt = [(OASISExpr.EBool true, [])];
+ bs_nativeopt = [(OASISExpr.EBool true, [])];
+ },
+ {
+ exec_custom = false;
+ exec_main_is = "krobot_homologation.ml";
+ });
+ Executable
+ ({
cs_name = "krobot-simulator";
cs_data = PropList.Data.create ();
cs_plugin_data = [];
@@ -6220,13 +6250,13 @@ let setup_t =
};
oasis_fn = Some "_oasis";
oasis_version = "0.3.0~rc3";
- oasis_digest = Some "\189Q=v\151\180\162\208\188\238+\208>;\014V";
+ oasis_digest = Some "^\025\t\b\239\141[v`R\255\200\143\017g\177";
oasis_exec = None;
oasis_setup_args = [];
};;
let setup () = BaseSetup.setup setup_t;;
-# 6231 "setup.ml"
+# 6261 "setup.ml"
(* OASIS_STOP *)
let () = setup ();;
diff --git a/info/control2011/src/lib/krobot_config.ml b/info/control2011/src/lib/krobot_config.ml
index 4c5ef37..a88c48b 100644
--- a/info/control2011/src/lib/krobot_config.ml
+++ b/info/control2011/src/lib/krobot_config.ml
@@ -22,3 +22,65 @@ let object_safety_distance = object_radius +. robot_size /. 2.
let beacon_safety_distance = 0.7
let coin_radius = 0.12
+
+open Krobot_geom
+
+let pi = 4. *. atan 1.
+
+let red_initial_position =
+ { x = 0.25;
+ y = world_height -. 0.25; },
+ 0.
+
+let blue_initial_position =
+ { x = world_width -. 0.25;
+ y = world_height -. 0.25; },
+ pi
+
+
+let fixed_obstacles =
+ [
+ (* the trees *)
+ { pos =
+ { x = 0.64 +. 0.477;
+ y = 1. };
+ size = sqrt (2. *. 0.125 *. 0.125); };
+ { pos =
+ { x = world_width -. (0.64 +. 0.477);
+ y = 1. };
+ size = sqrt (2. *. 0.125 *. 0.125); };
+
+ { pos =
+ { x = 1.5;
+ y = 1. };
+ size = 0.1; };
+
+ (* entry position *)
+ { pos =
+ { x = 0.;
+ y = 1.5 };
+ size = 0.1; };
+ { pos =
+ { x = 0.2;
+ y = 1.5 };
+ size = 0.1; };
+ { pos =
+ { x = 0.4;
+ y = 1.5 };
+ size = 0.1; };
+
+ { pos =
+ { x = world_width;
+ y = 1.5 };
+ size = 0.1; };
+ { pos =
+ { x = world_width -. 0.2;
+ y = 1.5 };
+ size = 0.1; };
+ { pos =
+ { x = world_width -. 0.4;
+ y = 1.5 };
+ size = 0.1; };
+
+
+ ]
diff --git a/info/control2011/src/lib/krobot_config.mli b/info/control2011/src/lib/krobot_config.mli
index def3497..3ca4531 100644
--- a/info/control2011/src/lib/krobot_config.mli
+++ b/info/control2011/src/lib/krobot_config.mli
@@ -46,3 +46,12 @@ val beacon_safety_distance : float
val coin_radius : float
(** Radius of coins. *)
+
+val red_initial_position : Krobot_geom.vertice * float
+ (** position and angle of the robot as red *)
+
+val blue_initial_position : Krobot_geom.vertice * float
+ (** position and angle of the robot as blue *)
+
+
+val fixed_obstacles : Krobot_geom.obj list
diff --git a/info/control2011/src/lib/krobot_geom.ml b/info/control2011/src/lib/krobot_geom.ml
index 2f87a84..2d8c61a 100644
--- a/info/control2011/src/lib/krobot_geom.ml
+++ b/info/control2011/src/lib/krobot_geom.ml
@@ -101,6 +101,8 @@ let mult m v =
(fun k -> Array.fold_left (+.) 0.
(Array.mapi (fun i n -> v.(i) *. n) m.(k)))
+type obj = { pos : vertice; size : float }
+
(* +-----------------------------------------------------------------+
| Cubic bezier curves |
+-----------------------------------------------------------------+ *)
diff --git a/info/control2011/src/lib/krobot_geom.mli b/info/control2011/src/lib/krobot_geom.mli
index 71ec7e9..fbbb624 100644
--- a/info/control2011/src/lib/krobot_geom.mli
+++ b/info/control2011/src/lib/krobot_geom.mli
@@ -20,6 +20,8 @@ val math_mod_float : float -> float -> float
type vector = { vx : float; vy : float }
type vertice = { x : float; y : float }
+type obj = { pos : vertice; size : float }
+
val null : vector
val origin : vertice
diff --git a/info/control2011/src/lib/krobot_pathfinding.ml b/info/control2011/src/lib/krobot_pathfinding.ml
index b3c5262..63bd27f 100644
--- a/info/control2011/src/lib/krobot_pathfinding.ml
+++ b/info/control2011/src/lib/krobot_pathfinding.ml
@@ -23,14 +23,14 @@ module Vect = struct
type circle = { c : point; r : float }
type segment = { p1 : point; p2 : point }
type line = { p : point; v : vect }
-
+
let epsilon = 0.0000000001
-
+
let vect p1 p2 = { vx = p2.px -. p1.px; vy = p2.py -. p1.py }
-
+
let ( +! ) p v = { px = v.vx +. p.px; py = v.vy +. p.py }
let ( -! ) p v = { px = p.px -. v.vx; py = p.py -. v.vy }
-
+
let ( +| ) v1 v2 = { vx = v1.vx +. v2.vx; vy = v1.vy +. v2.vy }
let ( -| ) v1 v2 = { vx = v1.vx -. v2.vx; vy = v1.vy -. v2.vy }
let ( *@ ) n v = { vx = n *. v.vx; vy = n *. v.vy }
@@ -42,7 +42,7 @@ module Vect = struct
let line s = { p = s.p1; v = vect s.p1 s.p2 }
let scal v1 v2 = v1.vx *. v2.vx +. v1.vy *. v2.vy
let colineaire v1 v2 = abs_float (v1.vx *. v2.vy -. v1.vy *. v2.vx) < epsilon
-
+
let distance s p =
let middle =
( scal
diff --git a/info/control2011/src/tools/krobot_dump.ml b/info/control2011/src/tools/krobot_dump.ml
index a734159..5b7f7ca 100644
--- a/info/control2011/src/tools/krobot_dump.ml
+++ b/info/control2011/src/tools/krobot_dump.ml
@@ -79,9 +79,7 @@ lwt () =
Lwt_io.printl ""
| Trajectory_go ->
Lwt_io.printf "trajectory_go"
- | _ ->
- Lwt_io.printf "truc"
- (*return ()*))
+ | _ -> return ())
(Krobot_bus.recv bus));
fst (wait ())
diff --git a/info/control2011/src/tools/krobot_homologation.ml b/info/control2011/src/tools/krobot_homologation.ml
index e06a26a..c69761b 100644
--- a/info/control2011/src/tools/krobot_homologation.ml
+++ b/info/control2011/src/tools/krobot_homologation.ml
@@ -11,6 +11,7 @@
open Krobot_bus
open Krobot_action
+open Krobot_geom
let init_pos, init_angle = Krobot_config.red_initial_position
@@ -21,14 +22,14 @@ let path =
{ x = 0.7; y = 1.15 };
{ x = 0.5; y = 1.15 };
{ x = 0.4; y = 1.15 };
- ];
+ ]
lwt () =
lwt bus = Krobot_bus.get () in
Krobot_bus.send bus
(Unix.gettimeofday (),
Strategy_set [
+ Reset_odometry `Red;
Wait_for_jack false;
- Reset_odometry `Auto;
Follow_path path;
])
diff --git a/info/control2011/src/tools/krobot_viewer.ml b/info/control2011/src/tools/krobot_viewer.ml
index c7453b7..81adc86 100644
--- a/info/control2011/src/tools/krobot_viewer.ml
+++ b/info/control2011/src/tools/krobot_viewer.ml
@@ -283,6 +283,17 @@ let draw viewer =
Cairo.stroke ctx)
viewer.coins;
+ (* Draw obstacles *)
+ Cairo.set_source_rgba ctx 255. 255. 255. 0.5;
+ let () =
+ let open Krobot_geom in
+ List.iter
+ (fun { pos = { x; y }; size } ->
+ Cairo.arc ctx x y size 0. (2. *. pi);
+ Cairo.fill ctx)
+ Krobot_config.fixed_obstacles
+ in
+
(* Draw the robot and the ghost *)
List.iter
(fun (state, alpha) ->
@@ -497,7 +508,7 @@ let handle_message viewer (timestamp, message) =
(fun v ->
let v = [|v.x;v.y;1.|] in
let v = mult (rot_mat viewer.state.theta) v in
- { x = v.(0); y = v.(1) }) l;
+ Krobot_geom.translate viewer.state.pos { vx = v.(0); vy = v.(1) }) l;
queue_draw viewer
| _ ->
diff --git a/info/control2011/src/tools/krobot_vm.ml b/info/control2011/src/tools/krobot_vm.ml
index 5bd2d11..1b38347 100644
--- a/info/control2011/src/tools/krobot_vm.ml
+++ b/info/control2011/src/tools/krobot_vm.ml
@@ -57,6 +57,9 @@ type robot = {
mutable objects : vertice list;
(* Position of objects on the table. *)
+ mutable coins : vertice list;
+ (* Position of coins on the table *)
+
mutable moving : bool;
(* Is the robot moving ? *)
@@ -171,6 +174,14 @@ let handle_message robot (timestamp, message) =
| Objects l ->
robot.objects <- l
+ | Coins l ->
+ robot.coins <-
+ List.map
+ (fun v ->
+ let v = [|v.x;v.y;1.|] in
+ let v = mult (rot_mat robot.orientation) v in
+ Krobot_geom.translate robot.position { vx = v.(0); vy = v.(1) }) l
+
| Strategy_append l -> begin
match robot.append_strategy with
| Some l' ->
@@ -343,7 +354,7 @@ let rec exec robot actions =
ignore (Lwt_log.info "Bezier");
(* Compute parameters. *)
let d1 = sign *. distance p q and d2 = distance r s in
- if d1 = 0. || d2 = 0.
+ if abs_float d1 <= 0.01 || abs_float d2 = 0.01
then
(* in that case: there is an error somewhere else:
search and destroy it ! *)
@@ -361,10 +372,13 @@ let rec exec robot actions =
Send
(match which, robot.team with
| `Red, _ | `Auto, `Red ->
- Set_odometry(0.215 -. robot_size /. 2. +. wheels_position,
- world_height -. robot_size -. 0.1 , 0.)
+ let { Krobot_geom.x; y }, angle = Krobot_config.red_initial_position in
+ Set_odometry( x,
+ y, 0. )
| `Blue, _ | `Auto, `Blue ->
- Set_odometry(2.77, world_height -. 0.1 , pi)))
+ let { Krobot_geom.x; y }, angle = Krobot_config.blue_initial_position in
+ Set_odometry( x,
+ y, pi)))
| Load face :: rest ->
exec robot (Node [
Lift_down face;
@@ -501,6 +515,7 @@ lwt () =
ghost_position = { x = 0.; y = 0. };
orientation = 0.;
objects = [];
+ coins = [];
moving = false;
path = None;
curve = None;
hooks/post-receive
--
krobot
|
